ManuelW/grbl-LPC-CoreXY
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step, dir, enable ports

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This commit is contained in:
Todd Fleming 2017-01-04 19:04:38 -05:00
parent f5a117d0ba
commit bbbdb60076
7 changed files with 37 additions and 34 deletions
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33
grbl/config.h
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@ -28,6 +28,7 @@
#ifndef config_h #ifndef config_h
#define config_h #define config_h
#include "grbl.h" // For Arduino IDE compatibility. #include "grbl.h" // For Arduino IDE compatibility.
#include "LPC17xx.h"
// Define CPU pin map and default settings. // Define CPU pin map and default settings.
@ -584,26 +585,28 @@
#define SERIAL_UDRE USART_UDRE_vect #define SERIAL_UDRE USART_UDRE_vect
// Define step pulse output pins. NOTE: All step bit pins must be on the same port. // Define step pulse output pins. NOTE: All step bit pins must be on the same port.
#define STEP_DDR DDRD #define STEP_DDR LPC_GPIO2->FIODIR
#define STEP_PORT PORTD #define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 2 // Uno Digital Pin 2 #define X_STEP_BIT 0
#define Y_STEP_BIT 3 // Uno Digital Pin 3 #define Y_STEP_BIT 1
#define Z_STEP_BIT 4 // Uno Digital Pin 4 #define Z_STEP_BIT 2
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits #define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port. // Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR DDRD #define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT PORTD #define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5 // Uno Digital Pin 5 #define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6 #define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7 #define Z_DIRECTION_BIT 20
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits #define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin. // Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR DDRB #define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT PORTB #define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8 #define X_DISABLE_BIT 4
#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT) #define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT))
// Define homing/hard limit switch input pins and limit interrupt vectors. // Define homing/hard limit switch input pins and limit interrupt vectors.
// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL). // NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
@ -725,7 +728,7 @@
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false #define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 0 // false #define DEFAULT_LASER_MODE 1 // true
#define DEFAULT_HOMING_ENABLE 0 // false #define DEFAULT_HOMING_ENABLE 0 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min #define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min

4
grbl/limits.c
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@ -158,7 +158,7 @@ void limits_go_home(uint8_t cycle_mask)
// Initialize variables used for homing computations. // Initialize variables used for homing computations.
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1); uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
uint8_t step_pin[N_AXIS]; uint32_t step_pin[N_AXIS];
float target[N_AXIS]; float target[N_AXIS];
float max_travel = 0.0; float max_travel = 0.0;
uint8_t idx; uint8_t idx;
@ -180,7 +180,7 @@ void limits_go_home(uint8_t cycle_mask)
bool approach = true; bool approach = true;
float homing_rate = settings.homing_seek_rate; float homing_rate = settings.homing_seek_rate;
uint8_t limit_state, axislock, n_active_axis; uint32_t limit_state, axislock, n_active_axis;
do { do {
system_convert_array_steps_to_mpos(target,sys_position); system_convert_array_steps_to_mpos(target,sys_position);

2
grbl/planner.h
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@ -56,7 +56,7 @@ typedef struct {
// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values. // NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
uint32_t steps[N_AXIS]; // Step count along each axis uint32_t steps[N_AXIS]; // Step count along each axis
uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block. uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) uint32_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
// Block condition data to ensure correct execution depending on states and overrides. // Block condition data to ensure correct execution depending on states and overrides.
uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data. uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.

4
grbl/settings.c
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@ -317,7 +317,7 @@ void settings_init() {
// Returns step pin mask according to Grbl internal axis indexing. // Returns step pin mask according to Grbl internal axis indexing.
uint8_t get_step_pin_mask(uint8_t axis_idx) uint32_t get_step_pin_mask(uint8_t axis_idx)
{ {
if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); } if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); } if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); }
@ -326,7 +326,7 @@ uint8_t get_step_pin_mask(uint8_t axis_idx)
// Returns direction pin mask according to Grbl internal axis indexing. // Returns direction pin mask according to Grbl internal axis indexing.
uint8_t get_direction_pin_mask(uint8_t axis_idx) uint32_t get_direction_pin_mask(uint8_t axis_idx)
{ {
if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); } if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); } if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }

4
grbl/settings.h
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@ -132,10 +132,10 @@ void settings_write_coord_data(uint8_t coord_select, float *coord_data);
uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data); uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data);
// Returns the step pin mask according to Grbl's internal axis numbering // Returns the step pin mask according to Grbl's internal axis numbering
uint8_t get_step_pin_mask(uint8_t i); uint32_t get_step_pin_mask(uint8_t i);
// Returns the direction pin mask according to Grbl's internal axis numbering // Returns the direction pin mask according to Grbl's internal axis numbering
uint8_t get_direction_pin_mask(uint8_t i); uint32_t get_direction_pin_mask(uint8_t i);
// Returns the limit pin mask according to Grbl's internal axis numbering // Returns the limit pin mask according to Grbl's internal axis numbering
uint8_t get_limit_pin_mask(uint8_t i); uint8_t get_limit_pin_mask(uint8_t i);

22
grbl/stepper.c
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@ -60,7 +60,7 @@
typedef struct { typedef struct {
uint32_t steps[N_AXIS]; uint32_t steps[N_AXIS];
uint32_t step_event_count; uint32_t step_event_count;
uint8_t direction_bits; uint32_t direction_bits;
#ifdef VARIABLE_SPINDLE #ifdef VARIABLE_SPINDLE
uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate
#endif #endif
@ -93,13 +93,13 @@ typedef struct {
counter_y, counter_y,
counter_z; counter_z;
#ifdef STEP_PULSE_DELAY #ifdef STEP_PULSE_DELAY
uint8_t step_bits; // Stores out_bits output to complete the step pulse delay uint32_t step_bits; // Stores out_bits output to complete the step pulse delay
#endif #endif
uint8_t execute_step; // Flags step execution for each interrupt. uint8_t execute_step; // Flags step execution for each interrupt.
uint8_t step_pulse_time; // Step pulse reset time after step rise uint8_t step_pulse_time; // Step pulse reset time after step rise
uint8_t step_outbits; // The next stepping-bits to be output uint32_t step_outbits; // The next stepping-bits to be output
uint8_t dir_outbits; uint32_t dir_outbits;
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
uint32_t steps[N_AXIS]; uint32_t steps[N_AXIS];
#endif #endif
@ -117,8 +117,8 @@ static uint8_t segment_buffer_head;
static uint8_t segment_next_head; static uint8_t segment_next_head;
// Step and direction port invert masks. // Step and direction port invert masks.
static uint8_t step_port_invert_mask; static uint32_t step_port_invert_mask;
static uint8_t dir_port_invert_mask; static uint32_t dir_port_invert_mask;
// Used to avoid ISR nesting of the "Stepper Driver Interrupt". Should never occur though. // Used to avoid ISR nesting of the "Stepper Driver Interrupt". Should never occur though.
static volatile uint8_t busy; static volatile uint8_t busy;
@ -207,8 +207,8 @@ static st_prep_t prep;
void st_wake_up() void st_wake_up()
{ {
// Enable stepper drivers. // Enable stepper drivers.
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); } if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { STEPPERS_DISABLE_PORT |= STEPPERS_DISABLE_MASK; }
else { STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT); } else { STEPPERS_DISABLE_PORT &= ~STEPPERS_DISABLE_MASK; }
// Initialize stepper output bits to ensure first ISR call does not step. // Initialize stepper output bits to ensure first ISR call does not step.
st.step_outbits = step_port_invert_mask; st.step_outbits = step_port_invert_mask;
@ -246,8 +246,8 @@ void st_go_idle()
pin_state = true; // Override. Disable steppers. pin_state = true; // Override. Disable steppers.
} }
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { pin_state = !pin_state; } // Apply pin invert. if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { pin_state = !pin_state; } // Apply pin invert.
if (pin_state) { STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); } if (pin_state) { STEPPERS_DISABLE_PORT |= STEPPERS_DISABLE_MASK; }
else { STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT); } else { STEPPERS_DISABLE_PORT &= ~STEPPERS_DISABLE_MASK; }
} }
@ -502,7 +502,7 @@ void stepper_init()
{ {
// Configure step and direction interface pins // Configure step and direction interface pins
STEP_DDR |= STEP_MASK; STEP_DDR |= STEP_MASK;
STEPPERS_DISABLE_DDR |= 1<<STEPPERS_DISABLE_BIT; STEPPERS_DISABLE_DDR |= STEPPERS_DISABLE_MASK;
DIRECTION_DDR |= DIRECTION_MASK; DIRECTION_DDR |= DIRECTION_MASK;
// Configure Timer 1: Stepper Driver Interrupt // Configure Timer 1: Stepper Driver Interrupt

2
grbl/system.h
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@ -130,7 +130,7 @@ typedef struct {
uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean) uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
uint8_t step_control; // Governs the step segment generator depending on system state. uint8_t step_control; // Governs the step segment generator depending on system state.
uint8_t probe_succeeded; // Tracks if last probing cycle was successful. uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR. uint32_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
uint8_t f_override; // Feed rate override value in percent uint8_t f_override; // Feed rate override value in percent
uint8_t r_override; // Rapids override value in percent uint8_t r_override; // Rapids override value in percent
uint8_t spindle_speed_ovr; // Spindle speed value in percent uint8_t spindle_speed_ovr; // Spindle speed value in percent